The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle

Mina Kamel, Sebastian Verling, Omar Elkhatib, Christian Sprecher, Paula Wulkop, Zachary Taylor, Roland Siegwart, Igor Gilitschenski

Abstract: Extending the maneuverability of multirotors promises to yield a considerable increase in their scope of applications, such as carrying out more challenging inspection tasks and generating complex, uninterrupted movements of an attached camera. In this article, we address the promise of multirotor maneuverability by presenting Voliro, a novel aerial platform that combines the advantages of existing multirotor systems with the agility of vehicles having omniorientational controllability. In other words, Voliro can fly in any direction while maintaining an arbitrary orientation.